Sample program

> "I am in the possession of a Kuka KR 30 KC 2"

that is no reason to start conversation in downloads section.

please make sure to post in correct forum section.

> "And I am a complete novice in programming a Kuka"

does that mean you have programming experience on other platforms?

do you understand life and scope of variables, strucures, passing parameters by value and by reference etc?

> "I am looking for a sample program written in KRL to determine how to build a program in KRL."

forum is full of sample programs of every kind.

> "The program should do a sort of contour milling,"

> "where the tool is under an angel of 45 degrees or less."

> "I searched the internet for such a program, with no avail."

of course not, you are looking for a very specific example.

try broadening yours earch then adapt what you find to your needs (45deg or whatever).

you need to learn to walk before you can run or ride unicycle while playing bag pipe

there are no shortcuts.

> "There isn't much to find to learn to program in KRL"

that is just not true. opportunities to learn are all around, one just need to be more atentive.

that includes where to post, how to ask for help, getting documentation, learning basics

such as mesuring tool and base, programming motions using inline form instructions and

moving up step by step. if you want immediate results there is an option:

get professional to do it for you.

check pinned topic READ FIRST and download section (you were already there but did not see manuals)

It also helps to be specific on what it stopping you from writing KRL. In the expert programming manual there are a lot of examples of how a basic program is structured. So start there.

But i am in a good mood so i added one of my basic milling programs.

DECL FRAME box

$APO.CPTP = 15
$APO.CVEL = 50
$APO.CDIS = 15

;Tool 3 pakken zaag 60x1.5mm

toolwissel(3,15)

frees(12000)

;FOLD Overgang
PTP{a2 -90,a3 0} C_PTP
PTP{a1 -45} C_PTP
PTP{a1 -55, a2 -120, a3 120, a4 90, a5 -45, a6 -60}
;ENDFOLD

;FOLD Snede 2 zagen doos
box = {x 997.5,y 1126.5,z 1383.3,a 1,b -0.35,c -0.2}
$TOOL=TOOL_DATA[3]
$BASE= box

PTP{x -350,y 0,z -20,a 0,b 60,c -90}
$apo.cdis = 85

$vel.cp = 0.2
LIN{x -330} C_VEL
LIN{y -330} C_DIS
LIN{x 330} C_DIS
LIN{y 330} C_DIS
LIN{x -330} C_DIS
LIN{y 0} C_VEL
$vel.cp = 0.3
LIN{z 50} C_VEL
LIN{x 100} C_VEL
LIN{x -350} C_VEL
$vel.cp = 0.2
LIN{z -31} C_VEL
LIN{x -330} C_VEL
LIN{y -330} C_DIS
LIN{x 330} C_DIS
LIN{y 330} C_DIS
LIN{x -330} C_DIS
LIN{y 0} C_VEL
$vel.CP = 0.3
;ENDFOLD

LIN{z 50} C_VEL
LIN{x 150} C_VEL
LIN{x -350} C_VEL
LIN{z -24} C_VEL

$apo.cdis = 65
$vel.cp = 0.2
LIN{x -305} C_VEL
LIN{y -305} C_DIS
LIN{x 305} C_DIS
LIN{y 305} C_DIS
LIN{x -305} C_DIS
LIN{y 0} C_VEL
$vel.cp = 0.5
frees(0)
LIN{x -350} C_VEL

;FOLD overgang
PTP{a1 -65,a2 -120,a3 120,a4 0,a5 0,a6 30} C_PTP
PTP{a2 -90,a3 0,a4 0,a5 0,a6 30} C_PTP
PTP{a1 0} C_PTP
;ENDFOLD

toolwissel(15,3)

END

in that case you probably want someone local...Where are you located?

O that is close, i am from dongen (originally geertruidenberg )

I am willing to help, but i dont have the time to get onsite and do programming

Well this will definitely keep you of the streets, because the most important thing you need is time.

My advice is start simple cut a square or round hole or something like that. and build up from there. the sample program i gave is for cutting a square box down to the right size, so this can give you a head start.

By the way, what do you want to mill? and for what purpose?

I am sorry i don't. Whenever i get stuck somewhere i use this forum or go to kuka belgium myself. That can be a bit expensive but in my case it cost more money to have a not working robot.

But if your robot is functional there is no need to get kuka involved (yet). Although i will always recommend proper kuka training i can understand that if you want to use this robot as a hobby more than a actual job that training might be a bit expensive.

The basics you need to learn/do:

• Some sort of safety system connected (emergency button and safety gates).
• Robot mastered and correct mada selected (if your controller and robot havent been mixed then you should be fine.)
• A spindle mounted (with or whithout a toolchanger)
• To be able to teach a base and tool.
• make a simple program using the kuka inline forms

When you can do or have done the steps above you can start thinking about programming krl directly

Can you post your program? then it would be easier to see where it goes wrong.

you need to initialize X so that base assignment in line 167 can work

i see that you were trying to change base. not sure why change base if wanted change is related to tool....

well, if you need to change tool, then.... change tool... either physically different tool or alter tool data for exising tool so robot would reposition or reorient it..

DECL INT tool_number

; if tools are not defined, compute them using whatever suitable offsets you need
; maybe rotate about center of flange:
tool_data[11]={x 0, y 0, z 0, a 0, b 0, c 30}:tool_data[10]
tool_data[12]={x 0, y 0, z 0, a 0, b 0, c 45}:tool_data[10]
tool_data[13]={x 0, y 0, z 0, a 0, b 0, c -30}:tool_data[10]
tool_data[14]={x 0, y 0, z 0, a 0, b -30, c 0}:tool_data[10]
tool_data[15]=tool_data[10]


; or rotate about TCP (alternative to previous calculation):
tool_data[11]=tool_data[10]:{x 0, y 0, z 0, a 0, b 0, c 30}
tool_data[12]=tool_data[10]:{x 0, y 0, z 0, a 0, b 0, c 45}
tool_data[13]=tool_data[10]:{x 0, y 0, z 0, a 0, b 0, c -30}
tool_data[14]=tool_data[10]:{x 0, y 0, z 0, a 0, b -30, c 0}
tool_data[15]=tool_data[10]


FOR tool number = 10 to 15 ; do some motions, then change tool and repeat
  $BASE = base_data[4]
  $TOOL = tool_data[tool_number]

  LIN xP1
  LIN xP2
  LIN xP3
  LIN xP4

ENDFOR

You say you're getting an error relating to the A5 limit? What is the actual, complete message? What angle is A5 at when this error occurs? What is the setting for $SOFTP_END[5] and $SOFTN_END[5]? Does the error occur on a PTP motion or a LIN motion? At what line of the program?

And what is that at Line 164? That's not a valid KRL command or subroutine call.

If he changes the orientation (A,B or C) of the base for 30° (what definitely is not correct) it may result in exceeding axis limits. Depends on the origin coordinates of the base.

Quote from Henk_Robot

My problem now is. To change the tool from vertical into 30° end the next time into 45° and back to Vertikal at last.

This information ist not very helpful.

You should provide informations about the physical effect You wanna have. Describe the resulting part/contour, make a sketch or similar.

Quote from Henk_Robot

The program I send there are a few minor faults in it.

Of course You always shoud provide the actual, real code. And of course with all relevant data, like tools, bases, variables.